現今工業電腦大多應用在嵌入式系統上，主要因為工業電腦本身可以植入作業系統，以管理周邊設備的使用，並且透過排程(Scheduling)可使得工業電腦更有效率的執行多個任務。然而數位訊號處理器雖具有運算速度快的優點，但缺乏作業系統的管理，故無法有效的執行多個任務。
本論文是以CAN (Controller Area Network)匯流排網路為基礎，建構出分散式即時監控系統，整個系統主要分成主控端、受控端、監視端這三個部份。其中，主控端是由PC/104+、Linux-RTAI作業系統以及PCI轉CAN通訊介面所組成；在本系統中有二個受控端，受控端之控制核心為數位訊號處理器(digital signal processor, DSP)，其中一個受控端採用LQR (linear quadratic regulator)平衡控制法控制倒單擺系統，另一個受控端採用PID控制法控制直流馬達；監視端是由監控介面與USB (universal serial bus)轉CAN通訊介面組成。在實作上，主控端會下達控制命令至受控端，受控端會依據命令執行控制任務，並將系統響應結果回傳到監視端，而監視端會將系統響應結果顯示在監控介面上，以方便使用者分析系統響應結果。本論文以實驗驗證此分散式控制系統之性能。

Most of today's industrial computers are applied to embedded systems because the industrial computers can be implanted with the operating systems to manage the peripheral equipments. The industrial computer can deal with multi-tasking efficiently by process scheduling. The digital signal processor has the advantage of highly computational capability, but it can’t deal with multi-tasking because of the lack of operating systems.
This thesis is based on controller area network (CAN) bus network to construct a distributed real-time monitoring and control system. This system consists of subsystems of master, slave, and monitor. The master subsystem is constructed by a PC/104+, Linux-RTAI operating system and PCI to CAN communication interface. There are two slaves with the cores of digital signal processors (DSP). One is to control an inverted pendulum using the LQR controller, the other is to control a dc motor using the PID controller. The monitor subsystem consists of a monitoring interface and universal serial bus (USB) to CAN communication interface. In the experiments, the master subsystem sends the control commands to the slaves. The slaves excute the control tasks according to the received commands and return the responses to the monitor. The monitor is able to show the system responses on the screen to facilitate the system analysis. This thesis verifies the performance of the distributed control system through experiments.

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